TWI678685B - Arthroscopic surgery simulation method and arthroscopic surgery simulation device - Google Patents

Abstract

The invention provides an arthroscopic surgery simulation method and an arthroscopic surgery simulation system. Arthroscopic surgery simulation methods include: receiving tissue data and performing volume initialization operations and boundary operations on the tissue data to obtain volume data. The volume data includes a plurality of volume elements, each of which has a distance level; receiving tactile input from a haptic device to The simulation cutting device intersects the volume element; calculates the change in the distance level of the volume element according to the volume data and the haptic input; and feeds back the force to the haptic device according to the change in the distance level of the volume element.

Description

Arthroscopic surgery simulation method and arthroscopic surgery simulation system

The invention relates to an arthroscopic surgery simulation method and an arthroscopic surgery simulation system, and in particular to an arthroscopic surgery simulation method and an arthroscopic surgery simulation system that are simulated under a computer program environment to improve the success rate of surgery.

A major medical application of computer graphics is to provide surgical simulation. The largest joint in the human body, knee surgery, has the highest proportion of all joints, and there are many types of operations. There are two main types of knee surgery. The first type requires surgery to open the knee to the femur, tibia, and sacrum. The other type is arthroscopy. Only a small wound is opened in the knee joint to allow an arthroscope to enter the articular surface tissue. At the same time, another small wound is used to enter surgical tools for joint repair, ligament replacement, meniscus removal, and scraping. Cartilage on the surface of bones to ease surgery such as degenerative arthritis. However, directly performing surgery is also a great challenge for medical personnel. Therefore, how to perform simulation before surgery to improve the success rate of surgery is a goal that those skilled in the art should strive for.

In view of this, the present invention provides an arthroscopy surgery simulation method and an arthroscopy surgery simulation system, so that medical personnel can perform simulation before surgery to improve the success rate of surgery.

The invention provides an arthroscopic surgery simulation method, which includes: receiving tissue data and performing volume initialization operations and boundary operations on the tissue data to obtain volume data. The volume data includes a plurality of volume elements, each of which has a distance level; (haptic) The device receives haptic input to simulate the intersection of the cutting device and the volumin; calculates the change in the distance level of the volumin based on the volume data and the haptic input; and feeds back force to the haptic device based on the change in the volumin's distance level.

In an embodiment of the present invention, the arthroscopic surgery simulation method further includes: assigning a plurality of cube structures of six face-flags corresponding to each volume element, and reconstructing or modifying a plurality of tissues Triangles and the organization triangles are recorded in a cubic lattice structure.

In an embodiment of the present invention, the arthroscopic surgery simulation method further includes: rendering a tissue triangle through a graphics pipeline to generate a three-dimensional image.

In an embodiment of the present invention, the arthroscopy surgery simulation method further includes: traversing all the volumin of the anatomical structure from the volumin seed volumin until reaching other anatomical structures, or belonging to different tissues or anatomy in the anatomical structure The knife cuts the boundary surface of the volume element to modify multiple anatomical structures including anatomical structures and other anatomical structures.

In an embodiment of the present invention, the arthroscopic surgery simulation method further includes: traversing the cubic structure in the anatomical structure, and transforming triangles to simulate anatomy by multiplying multiple triangles in the cubic structure by multiple matrices. Structural transformation.

In an embodiment of the present invention, the arthroscopic surgery simulation method further includes: multiplying a plurality of triangle vertices of a corresponding triangle by two scaling matrices, a translation matrix, and a rotation matrix to obtain a transformed triangle. vertex.

The invention provides an arthroscopic surgery simulation system, which includes an electronic device and a tactile device coupled to the electronic device. The aforementioned electronic device receives tissue data and performs volume initialization operations and boundary operations on the tissue data to obtain volume data. The volume data includes multiple volume elements, each of which has a distance level; receiving tactile input from the haptic device to simulate the cutting device and The volume element crosses; calculates the change in the distance level of the volume element according to the volume data and the haptic input; and feeds back the force to the haptic device according to the change in the distance level of the volume element.

In an embodiment of the present invention, the electronic device assigns a plurality of cubic lattice structures corresponding to six pairs of face codes of each volume element, and reconstructs or modifies a plurality of organizational triangles and records the organizational triangles in the cubic lattice structure.

In an embodiment of the present invention, the electronic device draws a tissue triangle through a drawing pipeline to generate a three-dimensional image.

In an embodiment of the present invention, the electronic device traverses all the volumin of the anatomical structure from the volumin of the volumin seed until it reaches the other anatomical structure, or the volumin that belongs to different tissues in the anatomical structure or the cutting surface of the scalpel Boundary surface to modify multiple anatomical structures including anatomical structures and other anatomical structures.

In an embodiment of the present invention, the electronic device traverses the cubic structure in the anatomical structure, and transforms triangles by simulating the transformation of the anatomical structure by multiplying a plurality of triangles in the cubic structure by a plurality of matrices.

In an embodiment of the present invention, the electronic device multiplies a plurality of triangle vertices corresponding to a triangle by two scaling matrices, a translation matrix, and a rotation matrix to obtain transformed triangle vertices.

Based on the above, the arthroscopic surgery simulation method and arthroscopic surgery simulation system of the present invention can receive tissue data to obtain volume data, and receive haptic input from a haptic device, and then calculate the volume factor distance of the volume data based on the volume data and the tactile input. The level changes, finally giving a force back to the haptic device. In this way, various surgical methods during the operation can be simulated, thereby avoiding problems encountered during the actual operation.

In order to make the above features and advantages of the present invention more comprehensible, embodiments are hereinafter described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of a system architecture of an arthroscopic surgery simulation system according to an embodiment of the present invention.

Referring to FIG. 1, an arthroscopic surgery simulation system according to an embodiment of the present invention includes an electronic device (not shown in the figure) and a haptic device 101 coupled to the electronic device. The electronic device can receive the tissue data 102, output a three-dimensional image 103, and perform operations in other steps. Tissue data 102 may include tomography (CT) data, magnetic resonance (MRI) data, and graft data. The electronic device may include a processor, a graphics card, and a memory. The haptic device 101 may be a PHANToM Desktop of Geomagic. The software of the haptic device 101 can be implemented by a program development software (such as Visual C ++), and a function library (such as the OpenGL function library) can be used to render the triangulated tissue surface and use another function library (E.g HDDIV library) to obtain six-dimensional haptic device data (for example, the three-dimensional coordinates of the haptic device 101 plus the angle relative to the three-dimensional coordinates).

In the volume initialization and marginalization module 104, tissues related to arthroscopic surgery (for example, bones, ligaments, menisci, and cartilage) can be automatically bordered through a three-dimensional interface or manually bordered by a surgeon. Each volume element (voxel) in the volume formed from the nuclear magnetic resonance data will be assigned a tissue code and a structure code, respectively representing the tissue type and anatomical structure of a volume element. Each volume element is also assigned six pairs of face-flags and distance levels to represent the topological changes or geometric changes of the tissue surface around this volume element. The distance level represents the distance from the center of the volume element to the surface of the tissue along the directions of some of the major coordinate axes of the volume coordinate system. The width of the volumin can be divided into 256 intervals (i.e., distance levels) to represent the tissue surface change at a fine 0.5mm volumin width with a tool delivery rate of more than 0.008mm in each tactile step (1000Hz), as Typical tissue cutting operation. At the same time, the face code can be used to indicate that the adjacent volumin of a volumin belongs to different tissues or different anatomical structures. The volume initialization and dynamic cube data 105 can be generated by the volume initialization and calculation of the marginalization module 104.

The brightness surface reconstruction module 106 may allocate dynamic cube data of the face code corresponding to the volume element and reconstruct or modify the tissue triangle (or surface triangle 107) to be recorded in the dynamic cube structure. The rendering module 108 can use the standard drawing pipeline in the cutting simulation to draw all tissue triangles to obtain real-time (30Hz) visual response, because only a few dynamic cube data need to be modified and deleted in the above visual steps. Or add assignments. Artificial knees, bones, or transplanted ligaments that are designed and exported into grayscale data by computer-aided design software (such as AutoCAD) can also be expanded with the same expanded volume element and cubic data structure.

The haptic input module 109 can receive the haptic input 110 in each haptic step. The haptic input 110 may include six-dimensional data and a virtual tool shape of the haptic device 101. The six-dimensional data includes a three-axis position P and a three-axis vector z of the haptic device 101. The volume element-based simulation module 111 can use a tactile input to simulate a moving cutting tool or scalpel crossing the volume element. Real-time haptic simulation cutting can be calculated by calculating the distance level of the volume element that is moved by the moving tool in each haptic step. The haptic feedback module 112 feeds back the calculated force to the haptic device 101 according to the haptic simulation cutting so that the surgeon can feel the instant cutting. In the volume element-based simulation module 111, the deletion, segmentation, and fusion of the anatomical structure can be performed by traverse all the volume elements of an anatomical structure from one seed volume factor (eg, the seed S of FIG. 2) until it reaches the other The anatomical structure (for example, anatomical structure B of FIG. 2), or the boundary surface of the volumin that belongs to different tissues or the cutting surface of the scalpel, is implemented. The above-mentioned method of traversing all the volumin of the anatomical structure from the seed volumin can also be referred to as a seed and flood algorithm.

The cube-based simulation module 113 can also use a seed overflow algorithm to traverse all cube data structures in an anatomical structure, and transform the triangles in the cube by multiplying the triangles in the cube by multiple matrices. To simulate anatomical transformations (eg, translation, rotation, resizing, or bending). During the triangle conversion process described above, a collision test (to be described in more detail below) can be implemented to check whether the anatomical structure collides with other anatomical structures, and a push simulation is performed after the anatomical structure conversion process (will be (More details below).

In the following, the cube structure and the reset method of the cube structure and the simulation method of changing the size will be described through examples.

In one embodiment, the dynamic cube data may include an index number, four triangles, and a list number. The index number indicates the tissue type of cube volume (for example, bone, meniscus, cartilage, ligament, or air) and cube classification. Four cubic triangles of a cube can be generated corresponding to the cube classification. The triangles are stored in the cube structure and then in the drawing pipeline. The form number indicates a cubic triangle in the drawing pipeline to improve drawing speed. When the distance level or face number of the cube volume element is changed, the cube triangle in the drawing pipeline indicated by the form number will be deleted, and a new form number will be assigned to indicate the newly recreated Organization triangle.

The following is the virtual code of the seed overflow algorithm.

[Seed Overflow Algorithm] Repeat the following steps until the seed stack is empty. Step 1: Pop a seed volumin from the seed stack. (The initial seed is specified in the anatomy). Step 2: Traverse the volume element from the seed along the X-axis direction of the volume coordinate system and then along the -X axis direction to the volume element with the boundary surface. Find the tissue vertices in the dynamic cubic lattice structure of each traversed volume element ( vertices) and multiply each vertex by the matrix Mv and multiply the normal surface associated with each vertex by the matrix Mn. Test the collision and update the collision distance of the structure. Step 3: During the traversal X / -X expansion process, add Y, -Y, Z, -Z and find new seeds to stack into the seed stack. The new seed is a seed that does not have a boundary surface between its neighbors, but has a boundary surface in the X or -X direction in the present volume expansion. The boundary surface is defined as the cutting surface (the volume element surface between two volume elements of the same tissue), the tissue boundary (the volume element surface between the volume elements of the same tissue), or the natural boundary (the volume element surface between the tissue and air volume elements).

The seed overflow algorithm shows that from one subvolume, it traverses all the volumins of an anatomical structure until it reaches the boundary surface of the volumin of other anatomical structures, or belonging to different tissues in the anatomical structure, or a scalpel cutting surface, such as Shown in Figure 2. Each traversed triangular vertex V is transformed by multiplying it by the matrix Mv. The matrix Mv is a matrix multiplied by two scaling matrices (Sw, Sv), a translation matrix (T), and a rotation matrix (R). For example: V '= MvP = RTSvSwV. The normal surface N of the vertex is multiplied by the matrix Mn. The matrix Mn is a matrix in which R, Sw, and Sv are multiplied. For example: N '= MnN = RSvSwN. N 'and V' become the position and normal surface of the traversal vertex after conversion. Because the vertices of all cube data structures of the anatomical structure will change after conversion, the triangle indicated by the form number of all cube structures in the drawing pipeline will be deleted, and the new form number drawing will be assigned to indicate the latest stored in the drawing The transformed tissue triangle in the pipeline. The boundary surface surrounding the cube structure, such as the scalpel cutting surface, will also be transformed by the same matrix, so it will remain the boundary surface after the transformation.

3A to 3E are schematic diagrams of structural transformation according to an embodiment of the present invention.

In order to determine the matrix in the seed overflow algorithm, Fig. 3A to Fig. 3C mark two pairs of points AB and A'B '. A and B are designated points on the anatomical structure, and the corresponding points A 'and B' are the expected points of A and B after the structural transformation. The translation matrix T is determined by the translation vector v. v is a vector starting from the first specified point A in the structure and ending at the first specified point A 'after the structure conversion. The first designated point A 'is also the center of rotation. The rotation angle θ in FIG. 3C is determined by the inner product of the two specified vectors AB and A'B '. At the same time, the rotation axis is determined by the outer product of the designated vectors AB and A'B '. Therefore, the rotation matrix R can be determined by the rotation center, the rotation angle, and the rotation axis. Sw represents a scaling (e.g., elongation or contraction) scale along a specified vector AB. This scaling is the ratio of the lengths of the two specified vectors AB to A'B '. However, if the anatomical structure is a rigid structure, the scaling ratio will be set to 1 and the second designated point B 'will be adjusted so that the two designated vectors AB and A'B' have the same length. Sv represents the scaling in a direction perpendicular to the specified vector. Sv can be set to be related to the ratio of Sw, such as the inverse of the square root of Sw, so that the operating volume of the anatomical structure can be saved.

In FIGS. 3A to 3D, two sets of concatenation points may be designated to determine a concatenating matrix for contiguous sections in an anatomical structure. (A, B, C) is the set of points on the anatomical structure, and the corresponding (A ', B', C ') is the desired point group after the structure conversion (A, B, C). These two sets of designated points determine the corresponding corresponding point pairs, such as AB and A'B ', and BC and B'C'. The connection point (for example, B or B ') of any given point group is the second point of one of the point pairs (for example, AB or A'B') and the other point pair (BC or B'C ') First point. The connection matrix used to transform each section of the anatomical structure is determined by corresponding designated point pairs, such as AB and A'B ', and BC and B'C'. A connection plane through connection point B can be specified or automatically assigned so that it is perpendicular to the AB axis. The connection plane will form a boundary to stop the seed overflow of each part of the anatomical structure, and the connection plane will be converted into the structurally transformed boundary surface via the same matrix Mv.

However, in FIG. 3D, when one segment (e.g., A'B ') is rotated at an angle (e.g., ω) different from that of a neighboring segment (e.g., B'C'), structural bending occurs. This structural bending can be represented by providing different Sw (i.e., a scaling matrix along a specified axis) to a surface node of a curved section (e.g., A'B '). The ratio of Sw in the bending section A'B 'can be calculated based on the outermost intersections I' and J 'of the connection plane and the bending plane passing through the specific axis A'B' and the connection specific point C '. I and J rotate I 'and J' based on the rotation angle ω, the rotation center B ', and perpendicular to the rotation axis. Since I 'or J' should be shortened or extended relative to I or J to connect the curved section A'B 'and its neighbor section B'C', the scaling ratios Sw at I 'and J' are calculated as 1 respectively -(II '/ A'B') and 1+ (JJ '/ A'B'). II 'and JJ' are equal to sin (ω) * B'I and sin (ω) * B'J, respectively. The scaling Sw of any surface node can be calculated by the outermost intersection I 'or J', and it depends on which intersection is compared to its projection K 'or L' on the curved plane. The elongation or contraction ratio along the specified vector direction of node K 'or L' is calculated as 1-(II '/ A'B') (KK '/ I'B') or 1+ (JJ '/ A' B ') (LL' / J 'B'). KK 'or LL' is the distance from the projection K 'or L' on the curved plane to the projection K or L on the specified axis A'B '. The scaling of Sv at this node can be set to be related to the scaling of Sw.

In addition, in FIG. 3E, the user can only see the surface on the anatomical structure and specify a point E on the surface. However, this designated point E is not suitable for the calculations described above. The system can automatically adjust the specified point to the intermediate point A. A is the midpoint between E and F. F is the farthest intersection of the vector PE and the anatomical structure. P is the tactile point of the previous tactile step.

In the following, collision tests and movement simulations will be explained through examples.

FIG. 4 is a schematic diagram of a structural transformation regarding a collision and a shift response according to an embodiment of the present invention.

In one embodiment, a collision test may be implemented to detect whether a transformed anatomical structure collides with other structures during the transformation process. The transformation path of an organization vertex V in the transformation structure is divided into multiple line segments with a volume prime width, as shown in FIG. 4. This transformation path is initially a segment of a structure translation or an arc of a structure rotation. The system checks whether the end point (E _c ) of the line segment is located in a tissue volume element line by line. If the end point of the line segment is located in a tissue volume element, the collision is judged and the width of all line segments (for example, line segments E ₁ E ₂ , E ₂ E ₃ , ..., E _c-1 E _c ) before the collision is added to this The collision distance of vertex V. If this distance (that is, the width of all line segments before the collision) is smaller than the collision distance, this distance will replace the collision distance in the transformation structure, as in step 2 of the seed overflow algorithm. After processing all vertices of the transformed structure, the collision distance of the structure shows the distance that the transformed structure can move without collision.

If the transformation structure collides with the bone, the collision distance will be used as the new translation distance or rotation arc with the same translation vector direction or the same rotation center and rotation axis to recalculate the translation matrix T or rotation matrix R of the structural transformation. Next, a large tactile response is dispatched to indicate a bone collision. If the transformation structure collides with the organizational structure, the shift simulation will be implemented on the collision structure. In translation simulation, the same translation vector or the same rotation vector and rotation axis will be used to transform the collision tissue, but the transformation distance or rotation arc will become the difference between the specified distance and the collision distance (for example, E _c to E _n ) ,As shown in Figure 4. Haptic responses proportional to the speed of movement will also be assigned to indicate the passage of the collision structure.

5A to 5F are simulated images reconstructed by a medial collateral ligament (MCL) according to an embodiment of the present invention.

5A to 5F, bones 501, meniscus 502, cartilage 503, ligaments 504, and transplanted ligaments 505 are included. 5A to 5E are images before the simulated operation, and FIG. 5F is an image after the simulated operation. Figure 5A shows a torn collateral ligament, separated from the femur and sagging. Figure 5B shows the imported graft ligament 505. Fig. 5C shows a designated point ABCD on the graft ligament 505 and a desired point A'B'C'D 'after bending on the graft ligament 505. FIG. 5D shows the graft ligament 505 bent according to a desired point. 5E and 5F show that the curved graft ligament is repositioned in the original position of the medial collateral ligament.

FIG. 6A to FIG. 6I are simulation images reconstructed by a Cruciate Ligament according to an embodiment of the present invention.

In FIGS. 6A to 6I, bones 601, meniscus 602, cartilage 603, ligaments 604, and transplanted ligaments 605 are included. 6A to 6D are rear views. 6E to 6F are side views. 6G to 6I are forward tilted views. Figure 6A is the original image. Figure 6B shows the posterior cruciate ligament removed and shows a specific point pair AB on the graft ligament 605 and another point pair A'B 'at the desired location for resetting the ligament. Figure 6C shows the graft ligament 605 reset in the original position of the posterior cruciate ligament. FIG. 6D shows that the graft ligament 605 is zoomed in and reset to the original position of the posterior cruciate ligament. Figure 6E shows a particular point CD on the femur and the desired position C'D 'for rotating the femur. Figure 6F shows a rotated femur. Figure 6G shows a grafted ligament 605 for reconstruction of the posterior cruciate ligament. Figures 6H and 6I show the original position of the graft ligament 605 in the anterior cruciate ligament.

7A to 7F are simulation images of a torn meniscus resection according to an embodiment of the present invention.

In FIGS. 7A to 7F, bones 701, meniscus 702, cartilage 703, ligaments 704, non-cutting tool 706, and cutting tool 707 are included. FIG. 7A shows a specific point 708 on the femur and a desired point 709 for rotating the femur. FIG. 7B shows the oblique tear of the middle meniscus 702. 7C and 7D show the inside edge of the meniscus 702 cut from right to left. Figures 7E and 7F show tearing of the burr moving outward and cutting the meniscus 702.

8A to 8F are simulated images of cartilage injury scraping and cartilage autotransplantation (mosaicplasty) according to an embodiment of the present invention.

In FIG. 8A to FIG. 8F, bone 801, meniscus 802, cartilage 803, ligament 804, and separated cartilage fragments 807 are included. 8A, 8B and 8F are rear views. 8C to 8E are oblique views. In Figures 8A and 8B, the tool 806 is scraping away the cartilage damage. Figure 8C shows the separation of cartilage fragments 807 (autologous) from articular cartilage. FIG. 8D shows a specific point 808 of resetting the cartilage fragment 807 and a specific point 809 of resetting the cartilage fragment 807 again. FIG. 8E shows the cartilage fragments 807 resetting to a specific point 809. Figure 8F shows the cartilage fragments 807 resetting onto the scraped cartilage surface.

In summary, the arthroscopic surgery simulation method and arthroscopic surgery simulation system of the present invention can receive tissue data to obtain volume data, and receive tactile input from a haptic device, and then calculate the volume factor of the volume data based on the volume data and the tactile input. The change in distance level finally gives a force back to the haptic device. In this way, various surgical methods during the operation can be simulated, thereby avoiding problems encountered during the actual operation.

Although the present invention has been disclosed as above with the examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some modifications and retouching without departing from the spirit and scope of the present invention. The protection scope of the present invention shall be determined by the scope of the attached patent application.

101‧‧‧ Haptic Device

102‧‧‧Organizational Information

103‧‧‧ 3D image

104‧‧‧Volume Initialization and Marginalization Module

105‧‧‧Expanded volume data and dynamic cube data

106‧‧‧Brightness Surface Reconstruction Module

107‧‧‧ surface triangle

108‧‧‧Drawing Module

109‧‧‧haptic input module

110‧‧‧haptic input

111‧‧‧Volume element based simulation module

112‧‧‧Haptic feedback module

113‧‧‧ Based on cube simulation module

501, 601, 701, 801‧‧‧ bones

502, 602, 702, 802‧‧‧ meniscus

503, 603, 703, 803‧‧‧ cartilage

504, 604, 704, 804‧‧‧ ligaments

505, 605‧‧‧ transplanted ligaments

706‧‧‧Non-cutting tools

707‧‧‧Cutting Tool

708‧‧‧A specific point on the femur

709‧‧‧Expected point for rotating femur

806‧‧‧Tools

807‧‧‧ cartilage fragments

808, 809‧‧‧‧Specific points

FIG. 1 is a schematic diagram of a system architecture of an arthroscopic surgery simulation system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a seed and an anatomical structure according to an embodiment of the present invention. 3A to 3E are schematic diagrams of structural transformation according to an embodiment of the present invention. FIG. 4 is a schematic diagram of a structural transformation regarding a collision and a shift response according to an embodiment of the present invention.

FIG. 5A to FIG. 5F are simulated images of the medial collateral ligament reconstruction according to an embodiment of the present invention.

6A to 6I are simulated images of cruciate ligament reconstruction according to an embodiment of the present invention.

7A to 7F are simulation images of a torn meniscus resection according to an embodiment of the present invention.

8A to 8F are simulation images of cartilage injury scraping and cartilage autograft according to an embodiment of the present invention.

Claims (10)

An arthroscopic surgery simulation method includes: receiving a tissue data and performing a volume initialization operation and a boundary operation on the tissue data to obtain a volume data, the volume data includes a plurality of voxels, each of which The volumin has a distance hierarchy, and the tissue data corresponds to bones, cartilage, and ligaments; it receives a tactile input from a haptic device to simulate a cutting device crossing the volumin; from a subvolume of the volumin, iterates ( traverse) all the volume elements of an anatomical structure until reaching the boundary surface of the volume elements of other anatomical structures, or belonging to different tissues in the anatomical structure, or the cutting surface of a scalpel, to modify the anatomical structure and the Multiple anatomical structures of other anatomical structures; calculating the change in the distance level of the volume factors based on the volume data and the tactile input; and rendering a force based on the change in the distance level of the volume factors ) To the haptic device. The arthroscopic surgery simulation method according to item 1 of the scope of patent application, further comprising: assigning a plurality of cube structures corresponding to each of the six pairs of face-flags of the volume element, and reconstructing or modifying multiple structures Organization triangles and record the organization triangles in the cubic structures. According to the arthroscopy surgery simulation method described in item 2 of the patent application scope, the method further includes: rendering the tissue triangles through a graphics pipeline to generate a three-dimensional image. The method for simulating arthroscopic surgery as described in item 2 of the scope of patent application, further comprises: traversing the cube structures in the anatomical structure, and multiplying the triangles in the cube structures by a plurality of matrices The triangles are transformed to simulate the transformation of the anatomy. The method for simulating arthroscopic surgery as described in item 4 of the scope of patent application, further includes: multiplying the vertices of the triangles corresponding to the triangles by two scaling matrices, a translation matrix, and a rotation matrix to obtain a transformed matrix. The triangle vertices. An arthroscopic surgery simulation system includes: an electronic device; and a haptic device coupled to the electronic device, wherein the electronic device receives a tissue data and performs a volume initialization operation and a boundary operation on the tissue data to obtain A volume data, which includes a plurality of volume elements, each of which has a distance hierarchy, the tissue data corresponds to bones, cartilage, and ligaments; a tactile input is received from a haptic device to simulate a cutting device and the plurality of The volumin crosses; traverses all the volumin from an anatomical structure from a subvolumin of the volumin until it reaches another anatomical structure, or belongs to a different tissue in the anatomical structure, or a scalpel cutting surface Boundary surfaces of the volumins to modify the anatomical structures including the anatomical structure and the other anatomical structures; calculating the change in the distance level of the volumins based on the volume data and the tactile input; and according to the The change in the distance level of the volume element will give a force back to the haptic device. The arthroscopic surgery simulation system according to item 6 of the scope of patent application, wherein the electronic device assigns a plurality of cubic lattice structures corresponding to each of the six pairs of face codes of the volume element, and reconstructs or modifies a plurality of tissue triangles and applies these Tissue triangles are recorded in these cubic structures. The arthroscopic surgery simulation system according to item 7 of the patent application, wherein the electronic device traces the tissue triangles through a drawing pipeline to generate a three-dimensional image. The arthroscopic surgery simulation system according to item 7 of the scope of patent application, wherein the electronic device traverses the cube structures in the anatomical structure, and multiplies multiple triangles in the cube structures by multiple Matrix to transform the triangles to simulate the transformation of the anatomy. The arthroscopic surgery simulation system according to item 9 of the scope of the patent application, wherein the electronic device multiplies multiple triangle vertices corresponding to the triangles by two scaling matrices, a translation matrix, and a rotation matrix to obtain the converted Some triangle vertices.